WO2000038295A1 - Systeme de charge pour robot, robot, chargeur de batterie, procede de charge du robot, et support d'enregistrement - Google Patents

Systeme de charge pour robot, robot, chargeur de batterie, procede de charge du robot, et support d'enregistrement Download PDF

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Publication number
WO2000038295A1
WO2000038295A1 PCT/JP1999/007179 JP9907179W WO0038295A1 WO 2000038295 A1 WO2000038295 A1 WO 2000038295A1 JP 9907179 W JP9907179 W JP 9907179W WO 0038295 A1 WO0038295 A1 WO 0038295A1
Authority
WO
WIPO (PCT)
Prior art keywords
charging
robot device
rechargeable battery
robot
predetermined operation
Prior art date
Application number
PCT/JP1999/007179
Other languages
English (en)
Japanese (ja)
Inventor
Kozo Kawakita
Original Assignee
Sony Corporation
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Sony Corporation filed Critical Sony Corporation
Priority to EP99959944A priority Critical patent/EP1154540A4/fr
Priority to KR1020017007488A priority patent/KR20010101235A/ko
Publication of WO2000038295A1 publication Critical patent/WO2000038295A1/fr

Links

Classifications

    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
    • A63H29/00—Drive mechanisms for toys in general
    • A63H29/22—Electric drives
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
    • A63H11/00—Self-movable toy figures
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
    • A63H29/00—Drive mechanisms for toys in general
    • A63H29/24—Details or accessories for drive mechanisms, e.g. means for winding-up or starting toy engines
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
    • A63H3/00—Dolls
    • A63H3/36—Details; Accessories
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/005—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators using batteries, e.g. as a back-up power source
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/0042—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction
    • H02J7/0044—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction specially adapted for holding portable devices containing batteries
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/0047—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with monitoring or indicating devices or circuits
    • H02J7/0048—Detection of remaining charge capacity or state of charge [SOC]
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/0047—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with monitoring or indicating devices or circuits
    • H02J7/0048—Detection of remaining charge capacity or state of charge [SOC]
    • H02J7/0049—Detection of fully charged condition

Definitions

  • Robot device charging system Robot device, charging device, charging method for robot device, and recording medium
  • the present invention relates to a robot device charging system, a robot device, a charging device, a charging method of a robot device, and a recording medium, and is suitable for application to, for example, a walking robot.
  • the method of notifying the completion of charging or the like by turning on the LED as described above has poor alerting ability, and it is difficult for the user to notice the state of completion of charging, so that unnecessary charging is continuously performed for a long time without noticing that.
  • the present invention has been made in view of the above points, and can clearly notify the state of charge, and on the other hand, reduce the tediousness during charging and entertain
  • An object of the present invention is to propose a robot device charging system, a robot device, a charging device, a charging method for a robot device, and a recording medium capable of improving the performance.
  • a robot device charging system when a rechargeable battery of a robot device is charged, the robot device performs a predetermined operation in accordance with a charged amount of the rechargeable battery. did.
  • the user can recognize the state of charge of the rechargeable battery based on the operation of the robot device, and thus can exert a high alert ability for charging the rechargeable battery.
  • it is possible to reduce boring at the time of charging the robot device and obtain high entrainment.
  • the present invention when charging the rechargeable battery mounted in the robot apparatus, a predetermined operation is performed according to the charge amount of the rechargeable battery.
  • the user can recognize the state of charge of the rechargeable battery based on the operation of the robot device, and thus can exert a high alert ability for charging the rechargeable battery.
  • it is possible to reduce boring at the time of charging the robot device and obtain high entertainment.
  • the robot device when charging the rechargeable battery, the robot device may perform a predetermined operation in accordance with the charged amount of the rechargeable battery. I made it.
  • the user can recognize the state of charge of the rechargeable battery based on the operation of the robot device, and thus can exert a high alert ability for charging the rechargeable battery. .
  • the robot device when charging the rechargeable battery, the robot device may perform a predetermined operation according to the charge amount of the rechargeable battery. did.
  • the user can recognize the state of charge of the rechargeable battery based on the operation of the robot device, and thus can exhibit a high alert ability for charging the rechargeable battery. Can You.
  • a control program for executing the above-described method for charging a robot device is recorded on a recording medium.
  • the user can recognize the state of charge of the rechargeable battery based on the operation of the robot device, and thus exhibit a high alert ability for charging the rechargeable battery. can do.
  • a motion generating means for generating a motion
  • a detecting means for detecting that a predetermined portion has been shaken
  • a control means for controlling the motion generating means
  • the control means comprises: In a state in which the generation of the motion is stopped, when it is recognized that the predetermined portion has been shaken based on the detection result of the detection means, the motion generation means is controlled to start the generation of the motion.
  • FIG. 1 is a perspective view showing a configuration of a walking robot according to the present embodiment.
  • FIG. 2 is a perspective view for explaining the charging system of the walking robot shown in FIG.
  • FIG. 3 is a perspective view showing the configuration of the charging stand.
  • FIG. 4 is a bottom view showing the abdominal surface shape of the walking robot shown in FIG.
  • FIG. 5 is a block diagram showing a circuit configuration of the charging system shown in FIG. BEST MODE FOR CARRYING OUT THE INVENTION
  • Fig. 1 shows a small walking robot that resembles four legged animals such as dogs and cats.
  • a head 3 is attached to the front end of a torso 2 via a neck joint 4 to move up, down, left and right.
  • the tail 5 is attached to the rear of the body 2 via the tail joint 6 so as to be rotatable in two directions: up, down, left and right.
  • the front legs 7A and 7B and the two rear legs 7C and 7D are rotatably mounted in two directions, up and down, left and right, via shoulder joints 9A to 9D and knee joints 10A to 10D, respectively.
  • a micro-computer for centrally controlling a control part to be described later—a main control part 11 in the evening, a telephone unit (not shown), and three axes (X) of the walking robot.
  • a built-in acceleration sensor 12 for detecting the acceleration in the (axis, Y-axis, and Z-axis) directions is provided.
  • the head 3 is also provided with a sunset sensor 13, a charge coupled device (CCD) camera 14, a speaker 15, a microphone 17, an infrared control unit 18, and the like.
  • the main control unit 11 drives a total of four front legs 7A, 7B and rear legs 7C, 7D to fold or extend the front legs 7A, 7B and rear legs 7C, 7D.
  • the walking robot 1 By letting them lie or stand up on their own. By causing the front legs 7A and 7B and the rear legs 7C and 7D to perform a walking motion, the walking robot 1 can walk on its own.
  • the main control unit 11 drives the head 3 and tail 5 to swing the head 3 and tail 5 up and down, left and right, etc., and expresses movement similar to four legged animals such as dogs and cats It is configured to be able to.
  • the user touches the evening sensor 13 on the head 3, the user shakes the head 3 or the tail 5 to express joyful movements, or lifts one of the front legs 7A and 7B to raise the hand. And can be represented.
  • the main control unit 11 recognizes an obstacle during walking based on the output of the CCD camera 14 and avoids the obstacle. Then, under the control of the main control unit 11, the user's face captured through the CCD camera 14 can be transmitted to the other party under telephone control under the control of the main control unit 11.
  • the walking robot 1 can output the sounds of animals such as dogs and cats such as “Wan Wan” and “Nyan Yan Yang” via the speaker 15, and the television control by the infrared ray control unit 18. It can control various infrared control devices such as receivers and video tape recorders.
  • FIGS. 2 to 5 a charging stand 20 for charging a rechargeable battery 30 (FIG. 5) mounted on the walking robot 1, which will be described later, and parts related to charging of the walking robot 1 will be described.
  • the configuration of the charging system composed of will be described.
  • a recess 20A having substantially the same shape and dimensions as the lower side of the body 2 of the walking robot 1 is provided at the upper center thereof, and the inside of the recess 2OA is provided.
  • a connection connector (so-called terminal) 21 for supplying power is provided at a predetermined position.
  • an LED 22 for notifying the charging and the end of the charging by a color is provided as described later.
  • a charging circuit unit 23 (FIG. 5), a charge control unit 24 (FIG. 5), and the like are housed inside the unit 20.
  • a neck drive control unit 34 as its control means, a tail drive unit 34 as a drive means of the tail joint 6 (FIG. 1) and a tail drive control unit 35 as its control means, the front legs 7A, 7B and the rear.
  • the leg drive 36 which is the driving means for the shoulder joints 9A to 9D (FIG. 1) and the knee joints 10A to 10D (FIG. 1)
  • the leg drive control 37 which is the control means for the legs 7C and 7D
  • the main control Equipped with an audio processing unit 38 that generates audio signals of various sounds such as calls under the control of the unit 11 and sends them to the speaker 15 Have been.
  • a connection connector 40 is provided at a predetermined position on the abdomen of the body 2 of the walking robot 1 so as to correspond to the connection connector 21 of the charging stand 20 (FIG. 3).
  • the body 2 of the walking robot 1 is placed so as to fit into the recess 2 OA of the charging stand 20 to walk the walking robot 1 and the charging stand 20.
  • electrical connection can be made via the connection connector 40 of the robot 1 and the connection connector 21 of the charging stand 20.
  • the neck drive control unit 33, the tail drive control unit 35, and the leg drive control unit 37 are controlled based on the control program used, respectively, to control the neck drive unit 32, the tail drive unit 34, and the leg drive unit 36.
  • the head 3 is drooped, the tail 5 is hung down, and the front legs 7A and 7B and the hind legs 7C and 7D are hung down. Have them pause during charging, expressing their grace.
  • the charging circuit unit 23 supplies power to the rechargeable battery 30 of the walking robot 1 through the power control unit 24 of the walking robot 1, that is, starts charging, and
  • the charging control section 24 lights the charging status display LED 22 in orange to indicate that charging has started.
  • the power supply control unit which has been monitoring the state of charge (the amount of charge) of the rechargeable battery 30 until then, has been used.
  • 3 1 outputs a charge completion signal to the main control section 11, and the main control section 11 outputs a charge completion signal to the charge control section 24 of the charging stand 20.
  • the charge control section 24 Under the control, the emission color of the charge state display LED 22 changes to green.
  • the main control unit 11 of the walking robot 1 performs a neck drive control unit 33, a tail drive control unit 35, a leg drive control unit 37, and a Alternatively, by controlling the voice processing unit 38, the walking Robot 1 poses to notify the completion of charging.
  • the neck drive control unit 33 drives the neck drive unit 32 to raise the head 3 and raises the head 3 up and down (Fig.
  • Tail drive control unit 35 drives tail drive unit 34 to move tail 5 up and down (arrow b direction in Fig. 2) and left and right (arrow c direction in Fig. 2).
  • the leg drive control unit 37 drives the leg drive unit 36 to lift the front legs 7A and 7B upward (in the direction of the arrow d in Fig. 2) and shake them up and down. 2) Arrows in the direction of arrow e) or a pose in which the front legs 7A and 7B and the rear legs 7C and 7D are extended and the torso 2 is raised, and the audio processing unit 38 generates an audio signal. Then, the sound is output to the speaker 15 so that animal sounds such as “one-one” and “two-one-two-yan” based on the audio signal are scanned. Pause such as output from peaker 15 is executed.
  • a continuous operation may be performed by executing a plurality of types of pauses continuously.
  • the front legs 7A, 7B and the rear legs 7C, 7D are all stretched and the pose of standing up the torso 2 is taken, the torso 2 is lifted above the charging stand 20 to raise the charging stand 20. May be detached from the connector 21 (FIG. 3) by itself, and the front legs 7A, 7B and the rear legs 7C, 7D may be moved by walking to separate from the charging stand 20 by themselves.
  • the main control unit 11 of the walking robot 1 performs the above-described pause for notifying the completion of charging for a predetermined time, and then performs a neck drive control unit 33, a tail drive control unit 35, and a leg as necessary.
  • the operation of the walking robot 1 is stopped by controlling the drive control unit 37 and / or the voice processing unit 38.
  • the neck drive control section 11 based on the control program stored in the memory 11A. 33, the tail drive control section 35, the leg drive control section 37, and / or the sound processing section 38 start controlling the neck drive section 32 to start the drive.
  • the neck drive control section 32 to start the drive.
  • the tail drive 3 4 to swing the tail 5 up, down, left and right, or to lift the front legs 7 A and 7 B upward and shake them up and down
  • an operation such as generating an animal cry from the speaker 15.
  • the walking robot 1 starts the movement as if waking from sleep when the body part 2 is shaken after the movement is stopped.
  • the walking robot 1 showed weakness in which the head 3 was drooped during charging, the tail 5 was hung down, and the front legs 7A, 7B and the hind legs 7C, 7D were hung down. Pause during charging, and then, when charging is completed, charge the head 3, the tail 5, the front legs 7A and 7B and / or the rear legs 7C and 7D, and generate animal sounds. Pause for completion.
  • the walking robot 1 automatically takes a position to notify the completion of charging when the charging is completed, so that the user can recognize that the charging has been completed by the change in the posture or the operation of the walking robot 1. It can be clearly recognized.
  • the walking robot 1 when the charging is completed, the walking robot 1 can strongly notify the user that the charging has been completed due to a change in posture and movement of the walking robot 1, thereby exhibiting a high alerting ability. be able to. In addition, by doing so, it is possible to improve the energetic timing.
  • the walking robot 1 stops operating after a predetermined time has elapsed after charging is completed, and when the torso 2 is shaken by a user or the like thereafter, the shaking is detected by the acceleration sensor 12. As a result, the walking robot 1 is given a living feeling because it starts to move as if waking from sleep, and the user is given a feeling of closeness and attachment similar to that of the pet. Can be.
  • charging when charging is completed, charging is completed, such as moving the head 3, tail 5, front legs 7A and 7B and / or rear legs 7C and 7D, and generating animal sounds.
  • the walking robot 1 By allowing the walking robot 1 to take a pose, the walking robot The user can clearly recognize that the charging has been completed due to the change in the posture and the operation of (1).
  • the operation is started when the body 2 is shaken, so that the walking robot 1 can have a living feeling.
  • the walking robot 1 can have a living feeling.
  • the present invention is applied to the quadrupedal walking robot 1 configured as shown in FIG. 1, but the present invention is not limited to this. It can be widely applied to self-propelled robots using wheels and various other robot devices.
  • the walking robot 1 simply stops operating after a predetermined time has elapsed after charging is completed.
  • the present invention is not limited to this, and it is as if a dog or cat The operation may be stopped in a state where the animal is posing as if sleeping.
  • the poses representing the completion of charging include a motion of lifting the head 3 up, a pose of swinging the head 3 up and down, a pose of swinging the tail 5 up and down, right and left, and a front leg. Poses such as lifting 7 A, 7 B upward and swinging up and down, swinging left and right, extending the entire front legs 7 A, 7 B and rear legs 7 C, 7 D and standing up the torso 2, Although a case has been described in which a pose or the like that generates a sound of an animal such as "one one" or "two yang two yang" has been described, the present invention is not limited to this.
  • the pose may be set to the walking robot 1.In short, if the pose is such that the user can clearly recognize that the charging is completed, the pose indicating the completion of charging may be used. , And various other poses can do.
  • the walking robot 1 is made to take a weak pose while the rechargeable battery 30 is being charged, and the user is notified when the rechargeable battery 30 is fully charged.
  • the present invention is not limited to this.
  • the user walks so that he / she gradually becomes finer as the charge amount increases.
  • the operation state (speed of operation, amount of operation, loudness of call, contents of call, etc.) of robot 1 may be gradually changed.
  • the main control unit 11 of the walking robot 1 pauses (operations) for charging completion based on the charging completion signal from the power supply control unit 31.
  • the neck drive control unit 33, the tail drive control unit 35, the leg drive control unit 37, and the audio processing unit 38 are controlled so as to perform the operation, but the present invention is not limited to this.
  • the charging control section 24 of the charging stand 20 gives a charging completion signal to the main control section 11 of the walking robot 1 based on the charging completion signal from the power supply control section 31.
  • the main control section 11 On the basis of the charging completion signal, the main control section 11 performs a neck drive control section 33, a tail drive control section 35, and a leg drive control section 3 so that the walking robot 1 performs a pause of charging completion. Controls 7 and audio processing section 3 8 It may be so that.
  • the operation is started when the body 2 is shaken, but the present invention is not limited to this.
  • the head 3 and the front legs 7A and 7B are also provided with acceleration sensors, and when these heads 3, front legs 7A and 7B are shaken, it is as if they woke up from sleep.
  • the operation may be started as follows.
  • the present invention can be applied to various types of robots, including an en-timement robot, and their charging devices.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Toys (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un robot, pourvu d'une batterie rechargeable, conçu pour effectuer des actions prédéfinies en fonction de l'augmentation de la charge de sa batterie lorsque celle-ci est chargée. Ce robot permet, de par ses actions, d'identifier l'état de charge de la batterie, et procure, dans le même temps, un certain divertissement.
PCT/JP1999/007179 1998-12-21 1999-12-21 Systeme de charge pour robot, robot, chargeur de batterie, procede de charge du robot, et support d'enregistrement WO2000038295A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP99959944A EP1154540A4 (fr) 1998-12-21 1999-12-21 Systeme de charge pour robot, robot, chargeur de batterie, procede de charge du robot, et support d'enregistrement
KR1020017007488A KR20010101235A (ko) 1998-12-21 1999-12-21 로봇 장치 충전 시스템, 로봇 장치, 충전 장치, 로봇장치의 충전 방법 및 기록 매체

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
JP36229998 1998-12-21
JP10/362299 1998-12-21
JP12927999 1999-05-10
JP11/129279 1999-05-10

Publications (1)

Publication Number Publication Date
WO2000038295A1 true WO2000038295A1 (fr) 2000-06-29

Family

ID=26464724

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP1999/007179 WO2000038295A1 (fr) 1998-12-21 1999-12-21 Systeme de charge pour robot, robot, chargeur de batterie, procede de charge du robot, et support d'enregistrement

Country Status (4)

Country Link
EP (1) EP1154540A4 (fr)
KR (1) KR20010101235A (fr)
CN (1) CN1328721A (fr)
WO (1) WO2000038295A1 (fr)

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002166378A (ja) * 2000-11-30 2002-06-11 Sony Corp ロボット装置
JP2003001577A (ja) * 2001-06-25 2003-01-08 Sony Corp 充電装置、ロボットシステム及び充電制御方法
KR20030068886A (ko) * 2002-02-18 2003-08-25 (주)로보옵틱스 이동로봇의 충전제어장치 및 방법
JP2011024292A (ja) * 2009-07-13 2011-02-03 Taito Corp ゲーム機能を備えた充電器
WO2017187965A1 (fr) 2016-04-27 2017-11-02 パナソニックＩｐマネジメント株式会社 Robot
WO2019138618A1 (fr) 2018-01-10 2019-07-18 ソニー株式会社 Corps mobile autonome en forme d'animal, procédé de fonctionnement de corps mobile autonome en forme d'animal et programme
US10478971B2 (en) 2016-05-06 2019-11-19 Panasonic Intellectual Property Management Co., Ltd. Spherical robot having a driving mechanism for indicating amount of stored electric power
CN111146951A (zh) * 2020-01-20 2020-05-12 特变电工西安电气科技有限公司 一种可进行双向启动的电力电子变压器及其控制策略
JP2022142111A (ja) * 2021-03-16 2022-09-30 カシオ計算機株式会社 機器の電源制御装置、機器の制御方法及びプログラム

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KR100492590B1 (ko) * 2003-03-14 2005-06-03 엘지전자 주식회사 로봇의 자동충전 시스템 및 복귀방법
JP4776903B2 (ja) * 2004-09-01 2011-09-21 本田技研工業株式会社 ２足歩行ロボットの充電システム
DE102004063350A1 (de) * 2004-12-23 2006-07-06 Braun Gmbh Elektrokleingerät mit einem aufladbaren Energiespeicher und einer Anzeige für den Ladezustand des Energiespeichers
CN101224343B (zh) * 2007-01-19 2011-08-24 鸿富锦精密工业（深圳）有限公司 类生物及其部件控制模块
CN109195754A (zh) * 2016-05-20 2019-01-11 夏普株式会社 机器人、机器人的动作方法以及程序
CN110576434A (zh) * 2018-06-08 2019-12-17 香港商女娲创造股份有限公司 机器人唤醒系统和初始化系统及其方法

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JPH08202679A (ja) * 1995-01-23 1996-08-09 Sony Corp ロボット
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Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002166378A (ja) * 2000-11-30 2002-06-11 Sony Corp ロボット装置
JP2003001577A (ja) * 2001-06-25 2003-01-08 Sony Corp 充電装置、ロボットシステム及び充電制御方法
JP4547594B2 (ja) * 2001-06-25 2010-09-22 ソニー株式会社 充電装置、ロボットシステム及び充電制御方法
KR20030068886A (ko) * 2002-02-18 2003-08-25 (주)로보옵틱스 이동로봇의 충전제어장치 및 방법
JP2011024292A (ja) * 2009-07-13 2011-02-03 Taito Corp ゲーム機能を備えた充電器
WO2017187965A1 (fr) 2016-04-27 2017-11-02 パナソニックＩｐマネジメント株式会社 Robot
US10478971B2 (en) 2016-05-06 2019-11-19 Panasonic Intellectual Property Management Co., Ltd. Spherical robot having a driving mechanism for indicating amount of stored electric power
WO2019138618A1 (fr) 2018-01-10 2019-07-18 ソニー株式会社 Corps mobile autonome en forme d'animal, procédé de fonctionnement de corps mobile autonome en forme d'animal et programme
CN111146951A (zh) * 2020-01-20 2020-05-12 特变电工西安电气科技有限公司 一种可进行双向启动的电力电子变压器及其控制策略
CN111146951B (zh) * 2020-01-20 2021-08-17 特变电工西安电气科技有限公司 一种可进行双向启动的电力电子变压器及其控制方法
JP2022142111A (ja) * 2021-03-16 2022-09-30 カシオ計算機株式会社 機器の電源制御装置、機器の制御方法及びプログラム

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EP1154540A1 (fr) 2001-11-14
EP1154540A4 (fr) 2002-12-04
KR20010101235A (ko) 2001-11-14
CN1328721A (zh) 2001-12-26

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